摘要
为及时侦察森林火情,研究设计了一款自主侦察森林火灾的陆空两栖机器人。该机器人主要由旋翼结构与轮式结构组成,使用摄像头勘探地形、侦察火灾,并结合地面控制、飞行控制、环境感知以及避障等算法,通过Jetson Nano开发板建立三维模型,实现自主规划路线,同时在避障算法中引入绕行机制,提高稳定性与精准性。实验论证表明,设计方案的可靠性、稳定性达到预期,可以推广应用。
A land-air amphibious robot is developed to detect forest fire autonomously and timely.The robot is mainly composed of a rotor structure and a wheeled structure.It uses a camera to explore terrain and detect fires.The algorithms are adopted to perform ground control,flight control,environmental perception,and obstacle avoidance.A three-dimension model is built through Jetson Nano development board to achieve autonomous planning for its routes.At the same time,a bypass mechanism is introduced into the obstacle avoidance algorithm to improve stability and accuracy.The result of experiment shows that the design has achieved the expected reliability and stability,which can be promoted and applied.
作者
殷佳炜
赵晨曦
张帆
王硕
曹海平
傅怀梁
YIN Jia-wei;ZHAO Chen-xi;ZHANG Fan;WANG Shuo;CAO Hai-ping;FU Huai-liang(Zhangjian School,Nantong University,Nantong 226000,China)
出处
《南通职业大学学报》
2021年第2期80-84,共5页
Journal of Nantong Vocational University
基金
江苏省大学生创新创业训练计划项目(202010304045Z)。
关键词
机器人
火灾侦察
陆空两栖
自主规划
robots
fire detection
air-ground amphibious
autonomous planning
